Quick links: compas docs | compas_fab docs | urdf and moveit tutorials | simulation playground | troubleshooting
- Operating System: Windows 10 Pro (1).
- Rhinoceros 3D 6.0
- Anaconda Python Distribution: 3.x
- Docker Community Edition: Download it for Windows. Leave "switch Linux containers to Windows containers" disabled.
- X11 Server: On Windows use XMing, on Mac use XQuartz (see details here).
- Git: official command-line client or visual GUI (e.g. Github Desktop or SourceTree)
- VS Code with the following
Extensions
:Python
(official extension)EditorConfig for VS Code
(optional)Docker
(official extension, optional)
(1): Windows 10 Home does not support running Docker.
- Open the files rhino/ur_robot_model.3dm and rhino/ur_robot_model.ghx.
- First, you need to load a specified robot model by pressing the
load
button (you can choose the model from a list of urdf files). - Once, the model is loaded, you can add and remove a tool in the
Tool
cluster and manipulate the joints with the sliders in theConfiguration
cluster.
- Start the Docker ROS moveit simulation environment, by going to VS code and start the docker containers by:
- Only once: If you do this the first time, you have to build the local Dockerfile via
- right-click and
Build
or - in the Terminal (cd to folder) via
docker build --rm -f Dockerfile -t augmentedfabricationlab/ros-ur-planner .
- (Building without cache:
docker build --no-cache --rm -f Dockerfile -t augmentedfabricationlab/ros-ur-planner .
) - Tag your Docker Image as: augmentedfabricationlab/ros-ur-planner:latest
- right-click and
- Always: Run the docker image that matches your robot model, e.g.
ros-ur10e-rot-demo/docker-compose.yml
via- right-click on the file
Compose-up
or - type
docker-compose up -d
in the Terminal (cd to folder) to start it. - when ending, don't forget to stop the image via
docker-compose down -d
- right-click on the file
- Only once: If you do this the first time, you have to build the local Dockerfile via
- For access to the web UI of the docker image, start your browser and go to:
http://localhost:8080/vnc.html?resize=scale&autoconnect=true
- Open the files rhino/ur_robot_setup.3dm and rhino/ur_robot_setup.ghx and connect to the ROS client via the rosbridge and load the robot model directly from ROS. You can now query all moveit related services (compute_ik, trajectory planning, etc.)
- tbd
- Docker user name: augmentedfabricationlab
- The robotic_setups_description repository contains the robot descriptions files for the Dockerfile building.
- The robotic_setups repository contains the catkin workspace for the urdf models and moveit packages for various robotic setups of our lab, for setting up the systems in Linux as described in this tutorial.
- The
ros-base
andnovnc
images are remote images and drawn from the gramaziokohler docker hub organization.
when ROS should be connected between 2 machines via Ethernet (and not via localhost), the ROS MASTER and IPP should be changed via
nano ~/.bashrc
and set accordingly:
export ROS_MASTER_URI=http://10.10.0.1:11311
export ROS_IP=10.10.0.1
after pulling a new urdf description into robotic_setups repository run
catkin_make
source devel/setup.bash
then you can configure a new moveit package via
roslaunch moveit_setup_assistant setup_assistant.launch
Then run again catkin_make
and source devel/setup.bash
and run your moveit demo pacakge:
roslaunch your_package_name_moveit_config demo.launch rviz_tutorial:=true
And push the files to the remote repository.
Sometimes things don't go as expected. Here are some of answers to the most common issues you might bump into:
Q: Docker does not start. It complains virtualization not enabled in BIOS.
This is vendor specific, depending on the manufacturer of your computer, there are different ways to fix this, but usually, pressing a key (usually F2
for Lenovo) before Windows even start will take you to the BIOS of your machine. In there, you will find a Virtualization
tab where this feature can be enabled.
Q: Cannot start containers, nor do anything with Docker. Error message indicates docker daemon not accessible or no response.
Make sure docker is running. Especially after a fresh install, docker does not start immediately. Go to the start menu, and start Docker for Windows
.